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Add DY en E-manual
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| | Packet Type | P1 | P2 ~ P5 | Description | | ||
| |:----------------:|:----:|:--------------------------------------:|:--------------------------------------------------------------------------------| | ||
| | Multi-Turn Clear | 0x01 | Fixed value<br />(0x44 0x58 0x4C 0x22) | Sets the current position (Present Position) value to an absolute position within one revolution based on the motor. Can be cleared only when the motor is not in motion.<br />If the Clear Instruction Packet is sent while Torque Enable is active, the Error field in the Status Packet will display Result Fail (0x01). | | ||
| | Error Clear | 0x02 | Fixed value<br />(0x45 0x52 0x43 0x4C) | Clear errors that occurred in DYNAMIXEL.<br />If an error cannot be cleared or the conditions for clearance are not met, the error remains uncleared, and Result Fail (0x01) is displayed in the Error field of the Status Packet. | | ||
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| ## [Multi-Turn Clear Packet](#multi-turn-clear-packet) | ||
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| DYNAMIXEL-Y is capable of backing up Multi-Turn information, ensuring that it is preserved even after a power outage. A Multi-Turn Clear Packet is required to reset this value. After Multi-Turn Clear, DYNAMIXEL will undergo a reboot. | ||
| After replacing the Multi-Turn backup battery, it is essential to perform this process to ensure normal operation. | ||
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| **Note**: Multi-Turn Clear resets the absolute position value to within one motor revolution. Models with an attached reducer may lose their reducer-based absolute position. Please set the absolute position of the reducer to 0 and proceed with Multi-Turn Clear. | ||
| {: .notice} | ||
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| ### [Multi-Turn Clear Method](#multi-turn-clear-method) | ||
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| 1. Click the 'Packet' button at the top of DYNAMIXEL Wizard 2.0 to open the packet window. If connected to DYNAMIXEL, click 'Disconnect' to terminate the connection. | ||
| 2. Set the COM Port and Baud Rate, then click the 'Open' button. | ||
| 3. Select 'Clear Instruction' from the Instruction tab. | ||
| 4. Enter the correct DYNAMIXEL ID and click the 'Send' button to transmit the packet. | ||
| 5. Wait until the Status Packet is received. Check the received packet for errors. | ||
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| **Note**: For more detailed information, please refer to [DYNAMIXEL Wizard 2.0] and [DYNAMIXEL Protocol 2.0] | ||
| {: .notice} | ||
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| ## [Error Clear Packet](#error-clear-packet) | ||
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| If an error occurs in DYNAMIXEL-Y, it can be cleared. | ||
| If the [Error Code(153)] is not 0, Error Clear can be initialized using the [Clear Instruction Packet]. If initialization is not possible, the Error field in the Status Packet will result in Fail (0x01). | ||
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| # [Multi-Turn backup Battery Replacement](#multi-turn-backup-battery-replacement) | ||
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| DYNAMIXEL-Y features an internal battery for Multi-Turn Position Backup. After replacing the battery, it is necessary to perform the Multi-Turn Clear operation to reset the Multi-Turn settings for proper operation. | ||
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| ## [Procedure for Battery Replacement](#procedure-for-battery-replacement) | ||
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| 1. Prepare the DYNAMIXEL-Y and a new battery. | ||
| 2. After supplying power and searching for DYNAMIXEL-Y through DYNAMIXEL Wizard 2.0, click | ||
| Tools → Encoder Battery Replacement menu. | ||
| 3. In the case of a reducer model, check if the origin position matches and click the Next button. | ||
| (If the origin position doesn't match, please adjust it accordingly.) | ||
| 4. Open the battery cover, replace it with a new battery, close the cover, and click the Next button. | ||
| 5. Wait for the operation to proceed. | ||
| 6. Once finished, exit the menu by clicking the OK button. | ||
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| [DYNAMIXEL Wizard 2.0]: https://emanual.robotis.com/docs/en/software/dynamixel/dynamixel_wizard2/ | ||
| [Dynamixel Protocol 2.0]: https://emanual.robotis.com/docs/en/dxl/protocol2/ | ||
| [Clear Instruction Packet]: https://emanual.robotis.com/docs/en/dxl/protocol2/#clear-0x10 |
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| | Item | RS-485 | | Power | | | ||
| |:------------:|:-----------------------------------------------------:|:-------:|:------------------------------------------------------------------------------------------:|:--:| | ||
| | Pinout | `1` DATA+<br />`2` DATA- | | `1` GND<br /> `2` VDD | | ||
| | Diagram |  |  |  |  | | ||
| | Housing | <br />Molex 505565-0200 | S/T type<br /><br />Molex 39500-0002 | R/A type 1<br /><br />Molex 39503-2002 | R/A type 2<br /><br />Molex 39503-3002 | | ||
| | PCB Header | <br />Molex 505568-0381 | | <br />Molex 39501-1002 | | | ||
| | Crimp Terminal | <br />Molex 504185-1000 | | <br />(Option) CE007508(0.75SQ, L14, P8) | | | ||
| | Wire Specification | 26 AWG | | 20 AWG | | | ||
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| **Caution**: Before operation, ensure that 24V power is supplied through the power port. During setup, take special care to ensure that the polarity of all connections are correct. Incorrect connection may result in serious damage to the DYNAMIXEL. | ||
| {: .notice--warning} |
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| | Item | RS-485 | | Power | | | ||
| |:------------:|:-----------------------------------------------------:|:-------:|:------------------------------------------------------------------------------------------:|:--:| | ||
| | Pinout | `1` DATA+<br />`2` DATA- | | `1` GND<br /> `2` VDD | | ||
| | Diagram |  |  |  |  | | ||
| | Housing | <br />Molex 505565-0200 | S/T type<br /><br />Molex 39530-0002 | R/A type 1<br /><br />Molex 39533-2002 | R/A type 2<br /><br />Molex 39533-3002 | | ||
| | PCB Header | <br />Molex 505568-0381 | | <br />Molex 39531-1002 | | | ||
| | Crimp Terminal | <br />Molex 504185-1000 | | <br />(Option) CE010010(1.0SQ, L16, P10) | | | ||
| | Wire Specification | 26 AWG | | 20 AWG | | | ||
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| **Caution**: Before operation, ensure that 24V power is supplied through the power port. During setup, take special care to ensure that the polarity of all connections are correct. Incorrect connection may result in serious damage to the DYNAMIXEL. | ||
| {: .notice--warning} |
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| The DYNAMIXEL model number. |
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| When the value of [Torque Enable(512)] is changed from '1' (Torque ON) to '0' (Torque OFF), the device stops its operation and cuts off the signal supplied to the inverter. If the device is rotating, it slows the rotation speed to zero according to the duration specified by Safe Stop Time (104) to prevent damage. | ||
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| | Unit | Range | Initial Value | | ||
| |:----:|:------------:|:-------------:| | ||
| | [ms] | 0 ~ 32,767 | 200 | | ||
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| **Note** : In Current Control mode, only Dynamic Brake deceleration is used. | ||
| {: .notice} |
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| Sets the delay time until Brake operation and Goal Update are activated. | ||
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| | Address| Label | Unit | Range | Description | | ||
| |:------:|:-----------------:|:----:|:----------:|:-------------------------------------------------------------------------------------------| | ||
| | 106 | Brake Delay | [ms] | 0 ~ 32,767 |Torque ON: Brake Release occurs after Brake Delay (106)[ms] from the time that the [Torque Enable(512)] value is changed to 1.<br>Torque OFF: The controller turns OFF 100[ms] after the Brake Lock is enabled. | | ||
| | 108 | Goal Update Delay | [ms] | 0 ~ 32,767 | Update of Goal Position, Velocity, Current, and PWM values begins after Goal Update Delay(108)[ms] from the point of Brake Release. | | ||
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| The Secondary ID (10) is used to identify devices, similar to ID (7). | ||
| There are several important differences between ID (7)and Secondary ID (10): | ||
| 1. The Secondary ID does not need to be a unique value. This means that multiple devices can share the same Secondary ID value, allowing the creation of device groups. | ||
| 2. The primary ID has a higher priority than the Secondary ID. If the Secondary ID and ID are the same, the primary ID takes precedence. | ||
| You cannot use the Secondary ID to change values in the EEPROM area of the control table. Only values in the RAM area can be changed. | ||
| 3. If a command is sent to a servo’s Secondary ID, no Status Packet will be returned. | ||
| 4. If the value of the Secondary ID is 253 or higher, the Secondary ID functionality is disabled. | ||
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| | Value | Description | | ||
| |:---------:|:----------------------------------------------------------| | ||
| | 0 ~ 252 | Enable Secondary ID function | | ||
| | 253 ~ 255 | Disable Secondary ID function,<br />Default value : ‘255’ | | ||
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| Here is an example scenario with 5 devices with IDs (7) ranging from 1 to 5: | ||
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| {% capture secondary_id_ex1 %} | ||
| 1. Set the Secondary ID (12) to '5' for all 5 devices. | ||
| 2. Send a Write Instruction Packet (ID = 1, LED (513) = 255). | ||
| 3. The device with ID '1' turns on its LED and returns a Status Packet. | ||
| 4. Send a Write Instruction Packet (ID = 5, LED (513) = 255): | ||
| 5. All 5 devices turn on their LEDs. | ||
| 6. However, only device ID '5' returns a Status Packet. | ||
| 7. Set the Secondary ID (12) to '100' for all 5 devices. | ||
| 8. Send a Write Instruction Packet (ID = 100, LED (513) = 0): All 5 devices turn off their LEDs. Since there is no device with ID '100', no Status Packet is returned. | ||
| {% endcapture %} | ||
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| <div class="notice">{{ secondary_id_ex1 | markdownify }}</div> | ||
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_includes/en/dxl/y/control_table_110_overexcitation_voltage.md
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| These are the values for controlling the brake input voltage. According to the brake demand value, set the Overexcitation Voltage(110), Normal Excitation Voltage(111), and Overexcitation Time(112) in the timing chart below. | ||
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| | item | Unit | Range | | ||
| |:-------------------------------|:---------|:-----------| | ||
| | Overexcitation Voltage(110) | 1.0 [%] | 0 ~ 100 | | ||
| | Normal Excitation Voltage(111) | 1.0 [%] | 0 ~ 100 | | ||
| | Overexcitation Time(112) | 1.0 [ms] | 0 ~ 32,767 | |
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| The communications protocol of the DYNAMIXEL can be set to either "DYNAMIXEL Protocol 2.0" or "Modbus-RTU." The Modbus-RTU will be supported in the future. | ||
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| | Value | Description | | ||
| |:-------:|:------------------------------------------------------------------| | ||
| | 2 | [DYNAMIXEL Protocol 2.0] | | ||
| | 10(TBD) | [Modbus-RTU, Industrial Standard Protocol] | | ||
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| [DYNAMIXEL Protocol 2.0]: /docs/en/dxl/protocol2/ | ||
| [Modbus-RTU, Industrial Standard Protocol]: http://modbus.org/docs/PI_MBUS_300.pdf | ||
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| **Note** : The Modbus-RTU Protocol will be available for DYNAMIXEL servos in the future. | ||
| {: .notice} | ||
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_includes/en/dxl/y/control_table_126_notch_filter_frequency.md
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| 목표 전류 Value의 Notch Filter의 설정 Value입니다. Notch Filter를 사용하면 특정 주파수의 신호를 제거할 수 있습니다. 시스템 공진 주파수 등 시스템의 제어 성능 하락을 유발하는 주파수를 제거함으로써 제어 성능을 향상시킬 수 있습니다. | ||
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| | 컨트롤 테이블 item | Unit | Range | | ||
| |:----------------------------|:------|:------------------| | ||
| | Notch Filter Frequency(126) | [Hz] | 0 ~ 2,147,483,647 | | ||
| | Notch Filter Bandwidth(128) | [Hz] | 0 ~ 2,147,483,647 | | ||
| | Notch Filter Depth(130) | - | 0 ~ 2,147,483,647 | | ||
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| **Note** : Notch Filter Depth(130) Value이 커질수록 Phase가 급격하게 변하게 되어 시스템의 발산을 유발할 수 있습니다. Notch Filter Depth(130) Value을 조금씩 키우면서 설정하시기 바랍니다. |
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| The communication speed for communication between the controller and servo over the RS485 serial bus is called the "Baud Rate." | ||
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| | Value | Baud Rate<br>[bps] | Actual Baud Rate<br>[bps] | Error Rate<br>[%] | | ||
| |:---------------:|:---------------------:|:-------------------------:|:------------------:| | ||
| | 9 | 10.5M | 10,500,000 | 0.000 | | ||
| | 8 | 6M | 6,000,000 | 0.000 | | ||
| | 7 | 4.5M | 4,421,053 | -1.176 | | ||
| | 6 | 4M | 4,000,000 | 0.000 | | ||
| | 5 | 3M | 3,000,000 | 0.000 | | ||
| | 4 | 2M | 2,000,000 | 0.000 | | ||
| | 3 | 1M | 1,000,000 | 0.000 | | ||
| | 2 | 115,200 | 115,226 | 0.023 | | ||
| | 1 (Default) | 57,600 | 57,613 | 0.023 | | ||
| | 0 | 9,600 | 9,600 | 0.000 | | ||
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| **Caution** : Communication between the controller and the device requires a Baud rate error margin under 3[%]. | ||
| {: .notice--warning} | ||
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| **Note** : When using a U2D2, to ensure stable communication at higher Baud rates, please reduce the [response latency of the USB port](/docs/en/software/dynamixel/dynamixel_wizard2/#graph-optimization) | ||
| {: .notice} |
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_includes/en/dxl/y/control_table_132_present_velocity_lpf_frequency.md
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| The frequency of the Low-Pass Filter used for [Present Velocity(548)]. This is the setting value of [Present Velocity Filter] in the block diagram of the Operating Mode(33). Adjusting this value can lead to improved control performance if there is noise in the calculated current velocity value. | ||
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| | Unit | Range | | ||
| |:---------|:-----------| | ||
| | 0.1[Hz] | 0 ~ 65,535 | | ||
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| [Present Velocity Filter]: #operating-mode |
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